Add asset bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124
Browse files
.gitattributes
CHANGED
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@@ -5583,3 +5583,4 @@ dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/afforda
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| 5583 |
dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5584 |
dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5585 |
dataset/bathroom_supplies/bath_products/33eba2e4f2915b2ab81b4411f035d2c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5583 |
dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5584 |
dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5585 |
dataset/bathroom_supplies/bath_products/33eba2e4f2915b2ab81b4411f035d2c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5586 |
+
dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,611 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bottle body from the sides to pick up and move the sanitizer",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bottle body steady while aligning the pump for dispensing",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to reposition or place the bottle on a surface",
|
| 18 |
+
"confidence": 0.94
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain sanitizer liquid",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support dispensing",
|
| 25 |
+
"provide structural housing",
|
| 26 |
+
"stabilize the bottle upright"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large translucent light aqua plastic bottle body with a glossy smooth hard surface, rounded rectangular shape, front label graphics, and the main volume located below the pump.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_9": {
|
| 32 |
+
"confidence": 0.9813871383666992,
|
| 33 |
+
"position": [
|
| 34 |
+
0.022062141448259354,
|
| 35 |
+
-0.0913449379731901,
|
| 36 |
+
-0.07945572584867477
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.8609119073685335,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.49491212391705836,
|
| 42 |
+
-0.0392383479440116,
|
| 43 |
+
0.11114418294091849
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_14": {
|
| 48 |
+
"confidence": 0.9806528091430664,
|
| 49 |
+
"position": [
|
| 50 |
+
0.014557067304849625,
|
| 51 |
+
-0.09094636171357706,
|
| 52 |
+
-0.07805109769105911
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.8615838501096189,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.5007394002956467,
|
| 58 |
+
-0.016633411269814213,
|
| 59 |
+
0.08158830707503939
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
}
|
| 63 |
+
}
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"part_name": "pump head",
|
| 67 |
+
"mask_color": "Green",
|
| 68 |
+
"graspable": true,
|
| 69 |
+
"grasp_scenarios": [
|
| 70 |
+
{
|
| 71 |
+
"scenario": "delicately grasp the pump head to rotate or unlock it for use",
|
| 72 |
+
"confidence": 0.58
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"scenario": "pinch the pump head to stabilize the top during manipulation",
|
| 76 |
+
"confidence": 0.41
|
| 77 |
+
}
|
| 78 |
+
],
|
| 79 |
+
"functional_labels": [
|
| 80 |
+
"dispense sanitizer",
|
| 81 |
+
"provide press surface",
|
| 82 |
+
"direct liquid outlet",
|
| 83 |
+
"enable pump actuation"
|
| 84 |
+
],
|
| 85 |
+
"semantic_description": "Small white plastic pump head with a glossy smooth hard finish, curved spout-like shape at the top, positioned above the neck as the finger press surface and nozzle.",
|
| 86 |
+
"id": 1,
|
| 87 |
+
"grasp_group": {
|
| 88 |
+
"grasp_20": {
|
| 89 |
+
"confidence": 0.8602625727653503,
|
| 90 |
+
"position": [
|
| 91 |
+
0.06805305182933807,
|
| 92 |
+
0.07177904964191839,
|
| 93 |
+
0.07287326455116272
|
| 94 |
+
],
|
| 95 |
+
"orientation": {
|
| 96 |
+
"w": 0.24124100853087832,
|
| 97 |
+
"xyz": [
|
| 98 |
+
-0.27881306701605935,
|
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|
| 510 |
+
]
|
| 511 |
+
}
|
| 512 |
+
},
|
| 513 |
+
"grasp_57": {
|
| 514 |
+
"confidence": 0.9673960208892822,
|
| 515 |
+
"position": [
|
| 516 |
+
0.08405426889657974,
|
| 517 |
+
0.05424876109464094,
|
| 518 |
+
0.0454815998673439
|
| 519 |
+
],
|
| 520 |
+
"orientation": {
|
| 521 |
+
"w": 0.6165662453814901,
|
| 522 |
+
"xyz": [
|
| 523 |
+
0.6274467627198073,
|
| 524 |
+
-0.31848686595092723,
|
| 525 |
+
-0.35316106980436224
|
| 526 |
+
]
|
| 527 |
+
}
|
| 528 |
+
},
|
| 529 |
+
"grasp_58": {
|
| 530 |
+
"confidence": 0.967383861541748,
|
| 531 |
+
"position": [
|
| 532 |
+
-0.09637362509965897,
|
| 533 |
+
-0.015702494711149484,
|
| 534 |
+
0.03739539906382561
|
| 535 |
+
],
|
| 536 |
+
"orientation": {
|
| 537 |
+
"w": 0.5533955929679075,
|
| 538 |
+
"xyz": [
|
| 539 |
+
-0.5132250819577209,
|
| 540 |
+
0.47148185244225416,
|
| 541 |
+
-0.45613396689000163
|
| 542 |
+
]
|
| 543 |
+
}
|
| 544 |
+
},
|
| 545 |
+
"grasp_59": {
|
| 546 |
+
"confidence": 0.966681718826294,
|
| 547 |
+
"position": [
|
| 548 |
+
0.058504506945610046,
|
| 549 |
+
0.07954262912971899,
|
| 550 |
+
0.04871204122900963
|
| 551 |
+
],
|
| 552 |
+
"orientation": {
|
| 553 |
+
"w": 0.21036098195544797,
|
| 554 |
+
"xyz": [
|
| 555 |
+
-0.24202551163217847,
|
| 556 |
+
-0.6551170978626177,
|
| 557 |
+
0.6841005021763864
|
| 558 |
+
]
|
| 559 |
+
}
|
| 560 |
+
}
|
| 561 |
+
}
|
| 562 |
+
},
|
| 563 |
+
{
|
| 564 |
+
"part_name": "pump neck",
|
| 565 |
+
"mask_color": "Blue",
|
| 566 |
+
"graspable": false,
|
| 567 |
+
"grasp_scenarios": [],
|
| 568 |
+
"functional_labels": [
|
| 569 |
+
"connect pump head to collar",
|
| 570 |
+
"support pump motion",
|
| 571 |
+
"house dispenser stem",
|
| 572 |
+
"transfer actuation force"
|
| 573 |
+
],
|
| 574 |
+
"semantic_description": "Narrow white plastic ring-like neck section with a glossy smooth hard finish, small and cylindrical, sitting between the pump head and collar.",
|
| 575 |
+
"id": 2,
|
| 576 |
+
"grasp_group": {}
|
| 577 |
+
},
|
| 578 |
+
{
|
| 579 |
+
"part_name": "pump top button",
|
| 580 |
+
"mask_color": "Yellow",
|
| 581 |
+
"graspable": false,
|
| 582 |
+
"grasp_scenarios": [],
|
| 583 |
+
"functional_labels": [
|
| 584 |
+
"transmit press force",
|
| 585 |
+
"support pump actuation",
|
| 586 |
+
"connect upper pump parts"
|
| 587 |
+
],
|
| 588 |
+
"semantic_description": "Very small white plastic top button area with a glossy smooth hard surface, compact and circular, located at the top center of the pump assembly under the head.",
|
| 589 |
+
"id": 3,
|
| 590 |
+
"grasp_group": {}
|
| 591 |
+
},
|
| 592 |
+
{
|
| 593 |
+
"part_name": "base of hand sanitizer",
|
| 594 |
+
"mask_color": "Purple",
|
| 595 |
+
"graspable": false,
|
| 596 |
+
"grasp_scenarios": [],
|
| 597 |
+
"functional_labels": [
|
| 598 |
+
"support standing",
|
| 599 |
+
"contact tabletop",
|
| 600 |
+
"stabilize upright placement"
|
| 601 |
+
],
|
| 602 |
+
"semantic_description": "Flat oval bottom base of the translucent aqua plastic bottle, smooth and hard with a glossy finish, forming the underside contact surface.",
|
| 603 |
+
"id": 5,
|
| 604 |
+
"grasp_group": {}
|
| 605 |
+
}
|
| 606 |
+
],
|
| 607 |
+
"quality_check": {
|
| 608 |
+
"success": true,
|
| 609 |
+
"message": "YES"
|
| 610 |
+
}
|
| 611 |
+
}
|
dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f814774bcd9b2378f1c8be1cd54f6f349e1227ad83fb1bf41ce3f3dcf374b893
|
| 3 |
+
size 3771644
|